Name
Title | ||
|---|---|---|
Aerial Manipulation Using Contact with the Environment by Thrust Vectorable Multilinked Aerial Robot |
Abstract | ||
|---|---|---|
In recent years, an increasing number of research works have been focusing on the manipulation by aerial robots. Previous works using aerial robots with robotic arms have two problems: underactuation and external disturbances. We propose the fully-actuated control method and motion strategy using contact with the environment to solve these problems, along with the mechanical approach required. First, each propeller's 1 degree-of-freedom (DoF) thrust vectoring units are applied to enable fully-actuated flight control. In order to obtain the desired thrust and vectoring angle inputs for aerial manipulation satisfying hardware limits, we developed a fully-actuated control method using non-linear optimization. Second, we propose a manipulation motion strategy that treats the multilink robot body as a fixed manipulator by making contact with the environment. The contact mechanism attached to the link end is developed to maintain contact and resist external disturbances. In a real machine experiment, the robot successfully opened the door while in contact with the wall, demonstrating the feasibility of the proposed methods. |
Year | DOI | Venue |
|---|---|---|
2022 | 10.1109/ICRA46639.2022.9811948 | 2022 International Conference on Robotics and Automation (ICRA) |
DocType | ISBN | Citations |
Conference | 978-1-7281-9682-4 | 0 |
PageRank | References | Authors |
0.34 | 2 | 6 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Nobuki Sugito | 1 | 0 | 0.34 |
| Moju Zhao | 2 | 28 | 8.38 |
| Tomoki Anzai | 3 | 19 | 6.50 |
| Takuzumi Nishio | 4 | 1 | 1.64 |
| Kei Okada | 5 | 534 | 118.08 |
| Masayuki Inaba | 6 | 2186 | 410.27 |